Toronto-3D 是一个用于语义分割的大型城市户外点云数据集。这种大规模标记数据集由加拿大多伦多 MLS 系统获取，覆盖了大约 1 公里的点云，由大约 7,830 万个点共 8 个标记对象类组成。

Citation

Please consider citing our work: @inproceedings{tan2020toronto3d, title={{Toronto-3D}: A large-scale mobile lidar dataset for semantic segmentation of urban roadways}, author={Tan, Weikai and Qin, Nannan and Ma, Lingfei and Li, Ying and Du, Jing and Cai, Guorong and Yang, Ke and Li, Jonathan}, booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops}, pages={202–203}, year={2020} }